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// MESSAGE OBS_ATTITUDE PACKING
#define MAVLINK_MSG_ID_OBS_ATTITUDE 174
typedef struct __mavlink_obs_attitude_t
{
double quat[4]; ///<
} mavlink_obs_attitude_t;
#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
#define MAVLINK_MSG_ID_174_LEN 32
#define MAVLINK_MSG_ID_OBS_ATTITUDE_CRC 146
#define MAVLINK_MSG_ID_174_CRC 146
#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4
#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \
"OBS_ATTITUDE", \
1, \
{ { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \
} \
}
/**
* @brief Pack a obs_attitude message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param quat
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
_mav_put_double_array(buf, 0, quat, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
}
/**
* @brief Pack a obs_attitude message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param quat
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
_mav_put_double_array(buf, 0, quat, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
}
/**
* @brief Encode a obs_attitude struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param obs_attitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
{
return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat);
}
/**
* @brief Encode a obs_attitude struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param obs_attitude C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_obs_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
{
return mavlink_msg_obs_attitude_pack_chan(system_id, component_id, chan, msg, obs_attitude->quat);
}
/**
* @brief Send a obs_attitude message
* @param chan MAVLink channel to send the message
*
* @param quat
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
_mav_put_double_array(buf, 0, quat, 4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
#else
mavlink_obs_attitude_t packet;
mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
#endif
}
#endif
// MESSAGE OBS_ATTITUDE UNPACKING
/**
* @brief Get field quat from obs_attitude message
*
* @return
*/
static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
{
return _MAV_RETURN_double_array(msg, quat, 4, 0);
}
/**
* @brief Decode a obs_attitude message into a struct
*
* @param msg The message to decode
* @param obs_attitude C-struct to decode the message contents into
*/
static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude)
{
#if MAVLINK_NEED_BYTE_SWAP
mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat);
#else
memcpy(obs_attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
#endif
}
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